US20200234429A1 - Holding apparatus, control system and inspection system - Google Patents
Holding apparatus, control system and inspection system Download PDFInfo
- Publication number
- US20200234429A1 US20200234429A1 US16/745,503 US202016745503A US2020234429A1 US 20200234429 A1 US20200234429 A1 US 20200234429A1 US 202016745503 A US202016745503 A US 202016745503A US 2020234429 A1 US2020234429 A1 US 2020234429A1
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- US
- United States
- Prior art keywords
- moving body
- driver
- holder
- columnar
- moving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
- G01N2021/9542—Inspecting the inner surface of hollow bodies, e.g. bores using a probe
- G01N2021/9544—Inspecting the inner surface of hollow bodies, e.g. bores using a probe with emitter and receiver on the probe
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
Definitions
- Embodiments described herein relate generally to a holding apparatus, a control system, and an inspection system.
- a holding apparatus that holds a moving body movable in a prescribed direction. It is desirable for the holding apparatus to be compact so that the holding apparatus can be provided in a narrow space (a gap) when the moving body moves through the narrow space. To downsize the holding apparatus, it is effective to downsize the drivers included in the holding apparatus. However, when the drivers are downsized, the output of the holding apparatus decreases; and there is a possibility that the holding of the moving body may become unstable. Therefore, technology is desirable in which the moving body can be held more stably even when the output of the holding apparatus is small.
- FIG. 1 is a perspective view illustrating a holding apparatus according to an embodiment
- FIG. 2 is a perspective view illustrating the holding apparatus according to the embodiment
- FIG. 3 is a perspective view illustrating the holding apparatus according to the embodiment.
- FIG. 4 is a perspective view illustrating the holding apparatus according to the embodiment.
- FIGS. 5A and 5B are plan views illustrating portions of the holding apparatus according to the embodiment.
- FIG. 6 is a front view illustrating the holding apparatus according to the embodiment.
- FIGS. 7A and 7B are perspective cross-sectional views illustrating an example of equipment to which the holding apparatus according to the embodiment is applied;
- FIG. 8 is a schematic side view illustrating the moving body
- FIG. 9 is a schematic plan view illustrating the moving body
- FIGS. 10A to 10C are schematic views illustrating operations of the moving body
- FIGS. 11A to 11D are schematic views illustrating operations between the moving body and the holding apparatus according to the embodiment.
- FIGS. 12A to 12D are schematic views illustrating operations of the first to fourth drivers of the holding apparatus according to the embodiment.
- FIG. 13 is a formula to which the holding apparatus according to the embodiment refers.
- FIGS. 14A and 14B are graphs illustrating changes of the positions in the second direction of the imaginary planes when the moving body is moved;
- FIG. 15 is a block diagram schematically illustrating the control of the holding apparatus according to the embodiment.
- FIGS. 16A to 16C are schematic views illustrating operations of the first to third drivers of the holding apparatus according to the modification.
- a holding apparatus holds a moving body and changes a position of the moving body in a second direction perpendicular to a surface of a columnar body.
- the surface of the columnar body extends in the first direction.
- the moving body is movable along the first direction.
- the apparatus includes a first holder and a second holder separated from each other in a third direction perpendicular to the first direction and the second direction.
- the first holder includes a first portion and a second portion separated from each other in the second direction, and a third portion.
- the second holder includes a fourth portion and a fifth portion separated from each other in the second direction, and a sixth portion.
- the moving body is held by the first holder and the second holder in a state in which the moving body is at a hold position.
- the hold position is where the moving body opposes the third portion and the sixth portion in the third direction and is between the first portion and the second portion and between the fourth portion and the fifth portion in the second direction.
- FIG. 1 to FIG. 4 are perspective views illustrating a holding apparatus according to an embodiment.
- FIGS. 5A and 5B are plan views illustrating portions of the holding apparatus according to the embodiment.
- the holding apparatus 100 includes a holding mechanism 110 .
- the holding mechanism 110 is configured to hold a moving body 200 illustrated in FIG. 2 to FIG. 4 .
- the holding mechanism 110 includes a first holder 111 and a second holder 112 for holding the moving body 200 .
- the moving body 200 is held between the first holder 111 and the second holder 112 .
- FIG. 2 to FIG. 4 illustrate a state in which the holding apparatus 100 is mounted to a columnar body C.
- the columnar body C extends in a first direction D 1 .
- the columnar body C is a circular column; and the center of the columnar body C is parallel to the first direction D 1 .
- the columnar body C may be a prism.
- a not-illustrated tubular body is provided around the columnar body C.
- the tubular body is a circular tube or a quadrilateral tube.
- the holding apparatus 100 and the moving body 200 are provided in a gap between the columnar body C and the tubular body.
- the moving body 200 moves over the surface of the columnar body C along the first direction D 1 .
- the columnar body C includes a first columnar part C 1 and a second columnar part C 2 .
- the first columnar part C 1 and the second columnar part C 2 are arranged in the first direction D 1 .
- the dimension of the first columnar part C 1 in a direction perpendicular to the first direction D 1 is longer than the dimension of the second columnar part C 2 in the perpendicular direction.
- the surface of the first columnar part C 1 is linked to the surface of the second columnar part C 2 .
- a level difference exists between the surface of the first columnar part C 1 and the surface of the second columnar part C 2 .
- the holding apparatus 100 is mounted to the first columnar part C 1 .
- the moving body 200 moves over the surface of the second columnar part C 2 along the first direction D 1 .
- the holding apparatus 100 places the first holder 111 and the second holder 112 at the surface of the second columnar part C 2 .
- the moving body 200 moves between the first holder 111 and the second holder 112 placed at the surface of the second columnar part C 2 and is held by the first holder 111 and the second holder 112 .
- FIG. 5A illustrates the second holder 112 of the holding mechanism 110
- FIG. 5B illustrates the first holder 111 of the holding mechanism 110
- the holding apparatus 100 includes first to fourth drivers 131 to 134 and first to fourth links 141 to 144 .
- the first driver 131 and the second driver 132 are connected to the first holder 111 respectively via the first link 141 and the second link 142 .
- the third driver 133 and the fourth driver 134 are connected to the second holder 112 respectively via the third link 143 and the fourth link 144 .
- the position of the moving body 200 in a second direction D 2 perpendicular to the surface of the columnar body C can be changed by operating the first to fourth drivers 131 to 134 in the state in which the moving body 200 is held.
- the second direction D 2 is perpendicular to the first direction D 1 .
- An example of the second direction D 2 is shown in the drawings.
- the holding apparatus 100 switches the position in the second direction D 2 of the moving body 200 between a first position and a second position.
- the moving body 200 is proximal to the surface of the columnar body C; and the moving body 200 that is between the first holder 111 and the second holder 112 can move toward the surface of the columnar body C.
- FIG. 2 illustrates the state when the moving body 200 is at the first position.
- FIG. 3 illustrates the state when the moving body 200 is at the second position.
- the first holder 111 and the second holder 112 contact a portion of the surface of the columnar body C when the moving body 200 is at the first position.
- the holding apparatus 100 moves the moving body 200 in a direction perpendicular to the portion of the surface of the columnar body C.
- the first holder 111 and the second holder 112 are separated from the portion of the surface of the columnar body C.
- the holding apparatus 100 further includes a pair of bases 151 and 152 , a connector 153 , a pair of sliders 154 and 155 , and a connector 156 .
- the first driver 131 and the second driver 132 are fixed to the slider 154 .
- the slider 154 is slidable along the first direction D 1 with respect to the base 151 .
- the third driver 133 and the fourth driver 134 are fixed to the slider 155 .
- the slider 155 is slidable along the first direction D 1 with respect to the base 152 .
- the bases 151 and 152 do not move other than when operating a movement mechanism 160 described below. Accordingly, the holding mechanism 110 moves along the first direction D 1 when the sliders 154 and 155 slide with respect to the bases 151 and 152 . The moving body 200 also moves along the first direction D 1 when the moving body 200 is held by the holding mechanism 110 .
- the holding mechanism 110 and the moving body 200 are moved from the state illustrated in FIG. 3 to the state illustrated in FIG. 4 by the operations of the sliders 154 and 155 .
- the state in which the holding mechanism 110 and the moving body 200 oppose the second columnar part C 2 in the second direction D 2 and the state in which the holding mechanism 110 and the moving body 200 oppose the first columnar part C 1 in the second direction D 2 can be switched.
- the holding apparatus 100 moves the holding mechanism 110 toward the first columnar part C 1 from the state illustrated in FIG. 4 through the states illustrated in FIG. 2 and FIG. 3 .
- the holding apparatus 100 causes the first holder 111 and the second holder 112 to contact the surface of the first columnar part C 1 .
- the moving body 200 that is between the first holder 111 and the second holder 112 is in a state of being movable toward the surface of the first columnar part C 1 .
- the moving body 200 can be moved from the surface of the second columnar part C 2 to the surface of the first columnar part C 1 .
- the holding apparatus 100 causes the first holder 111 and the second holder 112 to approach the surface of the first columnar part C 1 and forms a state in which the moving body 200 can move between the first holder 111 and the second holder 112 from the surface of the first columnar part C 1 .
- the holding apparatus 100 holds the moving body 200 on the surface of the first columnar part C 1
- the first holder 111 and the second holder 112 move through the states illustrated in FIG. 4 and FIG. 3 and are caused to contact the surface of the second columnar part C 2 as illustrated in FIG. 2 .
- the moving body 200 can be moved from the surface of the first columnar part C 1 to the surface of the second columnar part C 2 .
- the bases 151 and 152 are rigid. Accordingly, the positional relationship between the base 151 and the base 152 substantially does not change in the operations of the sliders 154 and 155 , the operations of the first to fourth drivers 131 to 134 , etc. Also, as illustrated in FIG. 1 to FIG. 4 , the bases 151 and 152 are connected to each other by the connector 153 which is rigid. The change of the positional relationship between the base 151 and the base 152 can be suppressed further by the base 151 and the base 152 being connected by the connector 153 .
- the sliders 154 and 155 are rigid. Accordingly, the positional relationship between the slider 154 and the slider 155 substantially does not change in the operations of the first to fourth drivers 131 to 134 , etc.
- the sliders 154 and 155 are connected to each other by the connector 156 which is rigid. The change of the positional relationship between the slider 154 and the slider 155 can be suppressed further by the slider 154 and the slider 155 being connected by the connector 156 .
- the holding apparatus 100 further includes the movement mechanism 160 .
- the movement mechanism 160 moves the holding mechanism 110 along a third direction D 3 .
- the third direction D 3 is perpendicular to the first direction D 1 and the second direction D 2 .
- the position in the third direction D 3 of the moving body 200 that is held changes.
- the first direction D 1 is parallel to the central axis.
- the second direction D 2 corresponds to the diametrical direction of the columnar body C.
- the third direction D 3 corresponds to the circumferential direction of the columnar body C.
- the holding apparatus 100 operates the movement mechanism 160 while holding the moving body 200 in a state of being separated from the columnar body C.
- the position in the third direction D 3 of the moving body 200 is changed thereby.
- the holding apparatus 100 moves the moving body 200 toward the columnar body C by operating the first to fourth drivers 131 to 134 .
- the moving body 200 can move along the first direction D 1 at a location different from the location before being held. For example, the movement in the first direction D 1 of the moving body 200 and the movement in the third direction D 3 of the moving body 200 due to the holding apparatus 100 are repeated alternately.
- the movement mechanism 160 is provided to be separated from the holding mechanism 110 ; and the columnar body C is positioned between the holding mechanism 110 and the movement mechanism 160 .
- the movement mechanism 160 is coupled to the base 151 by a first coupler 171 and coupled to the base 152 by a second coupler 172 .
- the holding mechanism 110 , the movement mechanism 160 , the first coupler 171 , and the second coupler 172 are coupled in a ring configuration and are wound onto the columnar body C.
- the length of the first coupler 171 is substantially the same as the length of the second coupler 172 .
- the movement mechanism 160 and the holding mechanism 110 act as mutual counterweights.
- the change of the position in the third direction D 3 of the holding mechanism 110 or the movement mechanism 160 can be suppressed by the weight of the holding mechanism 110 or the movement mechanism 160 .
- the movement mechanism 160 includes, for example, a roller 161 , a motor 162 , and an encoder 163 .
- the roller 161 is connected to the motor 162 and contacts the surface of the columnar body C.
- the roller 161 rotates when the motor 162 operates.
- the movement mechanism 160 is moved over the surface of the columnar body C along the third direction D 3 by the rotation of the roller 161 .
- the movement mechanism 160 is coupled to the bases 151 and 152 by the first coupler 171 and the second coupler 172 . Therefore, when the movement mechanism 160 moves, the holding mechanism 110 also moves along the third direction D 3 .
- the encoder 163 detects the rotational speed (or the rotation angle) of the motor 162 or the roller 161 .
- the encoder 163 calculates the movement distance of the movement mechanism 160 in the third direction D 3 based on the detected rotational speed.
- the movement distance of the movement mechanism 160 is the movement distance of the holding mechanism 110 .
- the movement distance of the movement mechanism 160 corresponds to the movement distance of the moving body 200 .
- Rollers 173 and 174 are provided respectively at the bases 151 and 152 .
- the rollers 173 and 174 contact the surface of the columnar body C.
- the rollers 173 and 174 contact the level difference between the surface of the first columnar part C 1 and the surface of the second columnar part C 2 .
- the rollers 173 and 174 rotate according to the movement of the movement mechanism 160 . Thereby, the bases 151 and 152 move smoothly around the columnar body C along the third direction D 3 .
- FIG. 6 is a front view illustrating the holding apparatus according to the embodiment.
- FIG. 6 illustrates the state when the holding apparatus 100 and the moving body 200 are viewed along the direction of arrow A 1 illustrated in FIG. 2 .
- the first holder 111 includes a first portion 111 a, a second portion 111 b, and a third portion 111 c.
- the first portion 111 a and the second portion 111 b are separated from each other in the second direction D 2 .
- the position in the second direction D 2 of the third portion 111 c is between the position in the second direction D 2 of the first portion 111 a and the position in the second direction D 2 of the second portion 111 b.
- the first portion 111 a and the second portion 111 b may be linked to the third portion 111 c or may be separated from the third portion 111 c.
- the second holder 112 includes a fourth portion 112 d, a fifth portion 112 e, and a sixth portion 112 f.
- the fourth portion 112 d and the fifth portion 112 e are separated from each other in the second direction D 2 .
- the position in the second direction D 2 of the sixth portion 112 f is between the position in the second direction D 2 of the fourth portion 112 d and the position in the second direction D 2 of the fifth portion 112 e.
- the fourth portion 112 d and the fifth portion 112 e may be linked to the sixth portion 112 f or may be separated from the sixth portion 112 f.
- the first to third portions 111 a to 111 c and the fourth to sixth portions 112 d to 112 f have thin plate configurations and extend in the first direction D 1 . It is desirable for the lengths in the first direction D 1 of the first to third portions 111 a to 111 c and the fourth to sixth portions 112 d to 112 f each to be about the same as or longer than the length in the first direction D 1 of the moving body 200 to stably hold the moving body 200 . Also, the first to third portions 111 a to 111 c and the fourth to sixth portions 112 d to 112 f are rigid so that these portions do not deform when holding the moving body 200 .
- the moving body 200 when the moving body 200 is held by the holding apparatus 100 , the moving body 200 is stored at a hold position between the first holder 111 and the second holder 112 .
- the moving body 200 opposes the third portion 111 c and the sixth portion 112 f in the third direction D 3 and is between the first portion 111 a and the second portion 111 b and between the fourth portion 112 d and the fifth portion 112 e in the second direction D 2 .
- the two ends in the third direction D 3 of the moving body 200 are positioned respectively inside the first holder 111 and the second holder 112 which are C-shaped.
- a controller 190 controls the components of the holding apparatus 100 .
- the controller 190 operates the first to fourth drivers 131 to 134 , the sliders 154 and 155 , and the movement mechanism 160 by transmitting commands to these components.
- the controller 190 has wired connections to the components via a cable 191 .
- the controller 190 may transmit a wireless signal to the components.
- the controller 190 may be included in the bases 151 and 152 , etc.
- the holding mechanism 110 includes the first holder 111 and the second holder 112 .
- the first holder 111 includes the first portion 111 a, the second portion 111 b, and the third portion 111 c.
- the second holder 112 includes the fourth portion 112 d, the fifth portion 112 e, and the sixth portion 112 f.
- the holding mechanism 110 holds the moving body 200 at the hold position by using the first holder 111 and the second holder 112 .
- the moving body 200 opposes the third portion 111 c and the sixth portion 112 f in the third direction D 3 and is between the first portion 111 a and the second portion 111 b and between the fourth portion 112 d and the fifth portion 112 e in the second direction D 2 .
- the movement of the moving body 200 in the second direction D 2 or the third direction D 3 between the first holder 111 and the second holder 112 can be suppressed when the holding apparatus 100 changes the position in the second direction D 2 of the moving body 200 .
- the position in the second direction D 2 of the moving body 200 can be changed in a state in which the moving body 200 is held more stably.
- the holding apparatus 100 can change the position in the third direction D 3 of the moving body 200 by the movement mechanism 160 .
- the moving body 200 is held at the hold position described above even when the moving body 200 is moved along the third direction D 3 . Therefore, the position in the third direction D 3 of the moving body 200 can be changed in a state in which the moving body 200 is held more stably.
- the first holder 111 may be configured to modify the distance (a first distance) in the second direction D 2 between the first portion 111 a and the second portion 111 b.
- the first holder 111 includes a driver that changes the first distance.
- the second holder 112 may be configured to modify the distance (a second distance) in the second direction D 2 between the fourth portion 112 d and the fifth portion 112 e.
- the second holder 112 includes a driver that changes the second distance.
- These drivers include actuators (e.g., motors).
- the first holder 111 shortens the first distance; and the second holder 112 shortens the second distance.
- the first holder 111 causes the first portion 111 a and the second portion 111 b to contact the moving body 200 and clamps the moving body 200 with the first portion 111 a and the second portion 111 b.
- the second holder 112 causes the fourth portion 112 d and the fifth portion 112 e to contact the moving body 200 and clamps the moving body 200 with the fourth portion 112 d and the fifth portion 112 e.
- the first holder 111 may be configured to modify the position in the third direction D 3 of the third portion 111 c.
- the driver of the first holder 111 recited above changes the position in the third direction D 3 of the third portion 111 c .
- the second holder 112 may be configured to modify the position in the third direction D 3 of the sixth portion 112 f.
- the driver of the second holder 112 recited above changes the position in the third direction D 3 of the sixth portion 112 f.
- the first holder 111 moves the third portion 111 c and shortens the distance (a third distance) in the third direction D 3 between the third portion 111 c and the moving body 200 .
- the second holder 112 moves the sixth portion 112 f and shortens the distance (a fourth distance) in the third direction D 3 between the third portion 111 c and the moving body 200 .
- the first holder 111 causes the third portion 111 c to contact the moving body 200 ; and the second holder 112 causes the sixth portion 112 f to contact the moving body 200 .
- the holding apparatus 100 may include a detector 180 .
- the detector 180 detects the moving body 200 to be at the hold position.
- the detector 180 includes an infrared sensor.
- the infrared sensor includes a light emitter and a light receiver.
- the reflectance of a portion of the surface of the moving body 200 is configured to be larger than the reflectance of another portion of the surface.
- the infrared rays that are radiated from the light emitter are incident on the portion of the surface of the moving body 200 . More intense infrared rays are reflected toward the light receiver; and the intensity of the reflected light detected by the light receiver changes. Based on the change of the reflected light intensity, the infrared sensor detects that the moving body 200 has moved to the hold position.
- the detector 180 may include at least one of a through-beam sensor, a laser sensor, a magnet sensor, an ultrasonic sensor, a pressure sensor, an image sensor, or an optical position sensor. Or, the detector 180 may include a camera. The camera images the holding mechanism 110 and the moving body 200 and acquires an image. Based on the image, the detector 180 detects that the moving body 200 is at the hold position. Thus, the specific configuration of the detector 180 is modifiable as appropriate as long as the moving body 200 can be detected at the hold position.
- the holding apparatus 100 When the holding apparatus 100 operates in a state in which the moving body 200 is at a position shifted from the desirable hold position, there is a possibility that the moving body 200 cannot be held stably. For example, there is a possibility that the moving body 200 may fall from the holding mechanism 110 while the moving body 200 is being moved.
- the controller 190 moves the moving body 200 by using the holding mechanism 110 . Thereby, the moving body 200 can be held more stably by the holding mechanism 110 .
- FIG. 7A is a perspective cross-sectional view illustrating an example of equipment to which the holding apparatus according to the embodiment is applied.
- FIG. 7B is an enlarged view of portion P of FIG. 7A .
- Equipment E illustrated in FIG. 7A includes the columnar body C, and a tubular body T provided around the columnar body C.
- the columnar body C has a circular columnar configuration.
- the tubular body T has a circular tubular configuration.
- the columnar body C rotates inside the tubular body T.
- a rotation axis Ax of the columnar body C is parallel to the first direction D 1 .
- the equipment E is a generator.
- the holding apparatus 100 is provided in a gap G between the columnar body C and the tubular body T.
- the moving body 200 moves through the gap G along the first direction D 1 .
- Many holes H exist in the surface of the columnar body C.
- the moving body 200 inspects the interiors of the holes H while moving over the surface of the columnar body C.
- the moving body 200 inspects the tubular body T while moving over the surface of the columnar body C.
- a control system that includes the holding apparatus 100 and the moving body 200 is used as an inspection system inspecting the columnar body C or the tubular body T.
- the moving body 200 inspects the columnar body C or the tubular body T at some point in the third direction D 3 while moving along the first direction D 1 on the surface of the columnar body C.
- the moving body 200 is moved in the third direction D 3 by the holding apparatus 100 .
- the moving body 200 inspects the columnar body C or the tubular body T at another point in the third direction D 3 while moving along the first direction D 1 on the surface of the columnar body C.
- a wide area of the columnar body C or the tubular body T is inspected by alternately repeating the movement in the first direction D 1 of the moving body 200 and the movement in the third direction D 3 of the moving body 200 due to the holding apparatus 100 .
- the moving body 200 can be moved more accurately to the prescribed position.
- the misalignment in the third direction D 3 of the moving body 200 can be suppressed.
- the points of the columnar body C or the points of the tubular body T can be inspected more accurately thereby.
- the occurrence of misalignment in the third direction D 3 of the moving body 200 in which a portion of the columnar body C or the tubular body T is not inspected can be suppressed.
- FIG. 8 is a schematic side view illustrating the moving body.
- FIG. 9 is a schematic plan view illustrating the moving body.
- the moving body 200 includes a vehicle body 201 , a crawler 202 , a contact part 210 , an elastic member 220 , an actuator 230 , a detector 240 , and a controller 260 .
- the crawler 202 includes a belt and multiple wheels.
- the vehicle body 201 advances or retreats due to the multiple wheels rotating in a state in which the belt contacts the surface of the columnar body C.
- the crawlers 202 are provided respectively at the left and right. Also, the travel direction of the moving body 200 can be oriented toward the left side or the right side by adjusting the rotational speeds of the wheels of the crawlers 202 .
- the moving body 200 may include only a wheel or wheels.
- the contact part 210 can contact the tubular body T.
- the moving body 200 can switch between a contacting state in which the contact part 210 contacts the tubular body T, and a separated state in which the contact part 210 is separated from the tubular body T.
- the contact part 210 includes an arm 211 and a roller 212 .
- One end of the arm 211 is pivotally supported by the vehicle body 201 .
- the arm 211 is rotatable with respect to the vehicle body 201 .
- the roller 212 is provided at the other end of the arm 211 .
- the roller 212 contacts the tubular body T.
- the elastic member 220 is coupled to the vehicle body 201 and the arm 211 .
- the elastic member 220 generates an elastic force corresponding to the angle between the vehicle body 201 and the arm 211 .
- the elastic member 220 applies the elastic force to the arm 211 along the rotation direction of the arm 211 .
- the direction of the elastic force is arbitrary.
- the elastic force that is generated by the elastic member 220 at an angle ⁇ may be in a direction to increase the angle ⁇ or may be in a direction to reduce the angle ⁇ .
- the actuator 230 is coupled to the vehicle body 201 and the arm 211 .
- the actuator 230 is a drive mechanism fixed with respect to the vehicle body 201 .
- a force is applied to the arm 211 by driving the actuator 230 .
- the actuator 230 can generate torque on the angle between the vehicle body 201 and the arm 211 in a direction to increase and/or in a direction to decrease.
- the actuator 230 is, for example, an electric motor coupled to the one end of the arm 211 .
- the elastic member 220 is a torsion coil spring coupled to the vehicle body 201 and the arm 211 .
- a rotation axis 231 of the actuator 230 coupled to the one end of the arm 211 protrudes to the opposite side of the arm 211 .
- the protruding rotation axis 231 is provided at an inner side of at least a portion of the elastic member 220 .
- the detector 240 detects the angle of the arm 211 with respect to the vehicle body 201 .
- the detector 240 is, for example, a rotary encoder provided in the actuator 230 .
- the specific configuration of the contact part 210 is modifiable as appropriate.
- the arm 211 may include multiple links coupled to each other, and may be extendable/retractable in the second direction D 2 .
- the specific configurations of the elastic member 220 and the actuator 230 also are modifiable as appropriate according to the configuration of the contact part 210 .
- a tester 251 inspects at least one of the columnar body C or the tubular body T.
- the tester 251 includes, for example, an ultrasonic sensor, a striking device, or a camera that inspects scratches, etc., of these structural components.
- the moving body 200 includes, for example, a camera 252 , a measuring instrument 253 , a detector 254 , an illuminator 255 , and a camera 256 .
- the camera 252 images the surface of the columnar body C or the tubular body T.
- the measuring instrument 253 measures the distance between the surfaces of the vehicle body 201 and the tubular body T.
- the detector 254 detects the unevenness of the surface of the columnar body C.
- the illuminator 255 illuminates the columnar body C or the tubular body T.
- the camera 256 images the travel direction of the moving body 200 .
- the controller 260 controls the actuator 230 and adjusts the torque acting on the arm 211 from the actuator 230 .
- the force hereinbelow, called the pressing force
- the controller 260 controls the actuator 230 so that the pressing force is a preset force.
- the controller 260 also may control the operations of the camera 252 , the measuring instrument 253 , the detector 254 , the illuminator 255 , the camera 256 , etc.
- the controller 260 is placed outside the gap G and has a wired connection to the vehicle body 201 via a cable 261 .
- the vehicle body 201 may have a wireless connection to the controller 260 .
- the controller 260 may be mounted in the vehicle body 201 .
- FIGS. 10A to 10C are schematic views illustrating operations of the moving body.
- the moving body 200 may move over the surface of the columnar body C in a state in which the direction of a line connecting the contact portion between the moving body 200 and the columnar body C and the contact portion between the moving body 200 and the tubular body T is horizontal.
- the moving body 200 may move over the surface of the columnar body C in a state in which the direction from the contact portion between the moving body 200 and the tubular body T toward the contact portion between the moving body 200 and the columnar body C is the reverse of the direction of gravity.
- the angle of the line direction with respect to the direction of gravity changes according to the position in the third direction D 3 of the moving body 200 .
- the moving body 200 causes the contact part 210 to contact the tubular body T so that the moving body 200 does not fall at any position.
- the gap G which is between the columnar body C and the tubular body T is micro. It is desirable for the holding apparatus 100 to be small to provide the holding apparatus 100 in such a micro gap G. To downsize the holding apparatus 100 , it is particularly effective to downsize the first to fourth drivers 131 to 134 . If the first to fourth drivers 131 to 134 are downsized, the outputs of these drivers are reduced; and the holding of the moving body 200 may become unstable. However, in the holding apparatus 100 according to the embodiment, the moving body 200 can be held more stably by the structure of the first holder 111 and the structure of the second holder 112 described above. Accordingly, particularly in the micro gap G, the holding apparatus 100 according to the embodiment is provided favorably.
- the orientation of the moving body 200 when being held changes diversely.
- the direction of the line connecting the contact portion between the moving body 200 and the columnar body C and the contact portion between the moving body 200 and the tubular body T changes diversely in a plane perpendicular to the first direction D 1 .
- the force of gravity acting on the moving body 200 in the second direction D 2 and the force of gravity acting on the moving body 200 in the third direction D 3 change.
- the movement of the moving body 200 in the directions (the second direction D 2 and the third direction D 3 ) perpendicular to the first direction D 1 can be suppressed by the first holder 111 and the second holder 112 for any orientation.
- FIG. 11A to FIG. 11D are schematic views illustrating operations between the moving body and the holding apparatus according to the embodiment.
- FIG. 11A to FIG. 11D illustrate the state when the moving body 200 is held by the holding mechanism 110 .
- the moving body 200 moves over the surface of the columnar body C while causing the contact part 210 to contact the tubular body T.
- the moving body 200 moves to the hold position while causing the contact part 210 to contact the tubular body T.
- the detector 180 of the holding apparatus 100 detects the moving body 200 to be at the hold position.
- the controller 190 receives a detection result output from the detector 180 and transmits a signal to the moving body 200 .
- the controller 260 of the moving body 200 receives this signal, the contact part 210 is separated from the surface of the tubular body T as illustrated in FIG. 11C .
- the controller 260 transmits a signal to the holding apparatus 100 .
- the controller 190 of the holding apparatus 100 receives this signal, the controller 190 changes the position in the second direction D 2 of the moving body 200 as illustrated in FIG. 11D .
- the holding apparatus 100 moves the moving body 200 in a direction away from the surface of the columnar body C after the contact part 210 is separated from the tubular body T.
- the holding apparatus 100 may change the position in the second direction D 2 of the moving body 200 in a state in which the contact part 210 is caused to contact the tubular body T.
- the controller 260 weakens the pressing force of the contact part 210 when the holding apparatus 100 moves the moving body 200 .
- the moving body 200 is moved in the state in which the contact part 210 is caused to contact the tubular body T, it is necessary for the first to fourth drivers 131 to 134 to output larger forces.
- the first to fourth drivers 131 to 134 must be enlarged to increase the outputs of the first to fourth drivers 131 to 134 .
- the holding apparatus 100 is enlarged. Accordingly, to downsize the holding apparatus 100 , it is desirable to perform the method illustrated in FIG. 11B to FIG. 11D .
- the shaking or the like of the holding mechanism 110 and the moving body 200 When the moving body 200 is moved by the holding mechanism 110 , it is desirable for the shaking or the like of the holding mechanism 110 and the moving body 200 to be small and more stable. If the holding mechanism 110 or the moving body 200 shakes when moving the moving body 200 , there is a possibility that the moving body 200 may fall from the holding mechanism 110 . Or, there is a possibility that the holding mechanism 110 and the moving body 200 may contact and damage the columnar body C or the tubular body T.
- the orientation of the holding mechanism 110 corresponds to the relationship between the direction of gravity and an imaginary plane generated by connecting multiple designated components included in the holding mechanism 110 .
- the imaginary plane of the holding mechanism 110 passes through the first holder 111 and the second holder 112 .
- a change of the orientation of the holding mechanism 110 means that the angle between the imaginary plane and the direction of gravity has changed.
- the orientation of the moving body 200 corresponds to the relationship between the direction of gravity and an imaginary plane generated by connecting multiple designated components included in the moving body 200 .
- the imaginary plane of the moving body 200 passes through the wheels of the crawlers 202 .
- a change of the orientation of the moving body 200 means that the angle between the imaginary plane and the direction of gravity has changed.
- FIG. 12A to FIG. 12D are schematic views illustrating operations of the first to fourth drivers of the holding apparatus according to the embodiment.
- the first to fourth drivers 131 to 134 are connected respectively to the first to fourth links 141 to 144 .
- One end is connected to the holding mechanism 110 for each of the first to fourth links 141 to 144 .
- an imaginary plane that connects the one ends of the first to fourth links 141 to 144 is considered.
- the orientation of the holding mechanism 110 and the moving body 200 corresponds to the tilt of the imaginary plane (the angle between the imaginary plane and the direction of gravity).
- the orientation of the holding mechanism 110 and the moving body 200 changes when the tilt of the imaginary plane changes. Accordingly, the change of the orientation of the holding mechanism 110 and the moving body 200 can be suppressed by reducing the change of the tilt of the imaginary plane while moving the moving body 200 .
- FIG. 12A illustrates the case where the states of the motors of the first to fourth drivers 131 to 134 are substantially the same.
- the tilt of an imaginary plane IP 1 of FIG. 12A is substantially the same as the tilt when the holding of the moving body 200 is started.
- FIG. 12B illustrates the case where the state of the first driver 131 and the state of the third driver 133 are different from the state of the second driver 132 and the state of the fourth driver 134 .
- An imaginary plane IP 2 illustrated in FIG. 12B is tilted downward from the second link 142 and the fourth link 144 toward the first link 141 and the third link 143 .
- FIG. 12C illustrates the case where the state of the first driver 131 and the state of the second driver 132 are different from the state of the third driver 133 and the state of the fourth driver 134 .
- An imaginary plane IP 3 illustrated in FIG. 12C is tilted downward from the third link 143 and the fourth link 144 toward the first link 141 and the second link 142 .
- FIG. 12D illustrates the case where the state of the second driver 132 and the state of the third driver 133 are different from the state of the first driver 131 and the state of the fourth driver 134 . Twisting has occurred in an imaginary plane IP 4 of FIG. 12D .
- an imaginary plane that is generated by the first driver 131 , the second driver 132 , and the fourth driver 134 and an imaginary plane that is generated by the first driver 131 , the third driver 133 , and the fourth driver 134 exist.
- the rotation amounts of the drivers from the holding start time of the moving body 200 are used as the states of the drivers. If the rotation amounts of the drivers are the same, the orientation of the holding mechanism 110 and the moving body 200 substantially has not changed from the holding start time as illustrated in FIG. 12A . Or, the loads on the drivers are used as the states of the drivers. If the same force is output to the holding mechanism 110 from each of the drivers, the orientation of the holding mechanism 110 and the moving body 200 substantially does not change from the holding start time; and the loads on the drivers are substantially the same.
- the controller 190 detects the rotation amounts or the loads of the drivers.
- the first driver 131 and the second driver 132 are connected to the third driver 133 and the fourth driver 134 via the slider 154 , the slider 155 , and the connector 156 . Accordingly, the orientations of the holding mechanism 110 and the moving body 200 corresponding to the imaginary planes IP 3 and IP 4 illustrated in FIG. 12C and FIG. 12D actually do not occur. This is because when operating the first to fourth drivers 131 to 134 , the state of the first driver 131 is the same as the states of the third drivers; and the state of the second driver 132 is the same as the state of the fourth driver 134 . However, the imaginary planes IP 3 and IP 4 illustrated in FIG. 12C and FIG. 12D are considered in the calculations based on the states of the first to fourth drivers 131 to 134 .
- the controller 190 generates the imaginary planes illustrated in FIG. 12A to FIG. 12D based on the states of the first to fourth drivers 131 to 134 .
- the position in the second direction D 2 of the one end of the first link 141 is taken as z 1 .
- the position in the second direction D 2 of the one end of the second link 142 is taken as z 2 .
- the position in the second direction D 2 of the one end of the third link 143 is taken as z 3 .
- the position in the second direction D 2 of the one end of the fourth link 144 is taken as z 4 .
- the lengths of the links are preset.
- the positions z 1 to z 4 of the one ends of the first to fourth links 141 to 144 can be calculated.
- the positions of the imaginary planes illustrated in FIG. 12A to FIG. 12D are calculated by the formula illustrated in FIG. 13 .
- FIG. 13 is a formula to which the holding apparatus according to the embodiment refers.
- p 1 is the position in the second direction D 2 of the imaginary plane IP 1 shown in FIG. 12A .
- p 2 is the position in the second direction D 2 of the imaginary plane IP 2 shown in FIG. 12B .
- p 3 is the position in the second direction D 2 of the imaginary plane IP 3 shown in FIG. 12C .
- p 4 is the position in the second direction D 2 of the imaginary plane IP 4 shown in FIG. 12D .
- the calculation of the positions p 1 to p 4 corresponds to the generation of the imaginary planes IP 1 to IP 4 illustrated in FIG. 12 A to FIG. 12D .
- FIG. 14A and FIG. 14B are graphs illustrating changes of the positions in the second direction of the imaginary planes when the moving body is moved.
- the horizontal axis is time t.
- the vertical axis is the position p in the second direction D 2 of each of the imaginary planes.
- the solid line illustrates the change of the position p of the imaginary plane IP 1 .
- the broken line illustrates the change of the position p of the imaginary plane IP 2 .
- the dotted line illustrates the change of the position p of the imaginary plane IP 3 .
- the broken chain line illustrates the change of the position p of the imaginary plane IP 4 .
- the calculated positions p of the imaginary planes are set to 0 when the holding mechanism 110 holds the moving body 200 .
- FIG. 14A illustrates the result when the moving body 200 is moved while maintaining the orientation at the holding start time of the moving body 200 .
- FIG. 14A it can be seen from FIG. 14A that only the position of the imaginary plane IP 1 changes.
- the positions of the imaginary planes IP 2 to IP 4 substantially do not change. This shows that the shaking or the like of the holding mechanism 110 and the moving body 200 is small and stable when the moving body 200 is moved.
- FIG. 14B illustrates a result when shaking of the holding mechanism 110 and the moving body 200 occurs when moving the moving body 200 .
- the position of the imaginary plane IP 1 and the position of the imaginary plane IP 2 change. This shows that the state of the first driver 131 and the state of the third driver 133 are different from the second driver 132 and the state of the fourth driver 134 as in the imaginary plane IP 2 illustrated in FIG. 12B .
- FIG. 15 is a block diagram schematically illustrating the control of the holding apparatus according to the embodiment.
- the controller 190 controls the first to fourth drivers 131 to 134 to suppress the changes of the positions of the imaginary planes IP 2 to IP 4 .
- FIG. 15 illustrates the state in which the positions z 1 to z 4 of the one ends of the first to fourth links 141 to 144 are determined using a state 131 a of the first driver 131 , a state 132 a of the second driver 132 , a state 133 a of the third driver 133 , a state 134 a of the fourth driver 134 , and a transformation matrix L.
- the transformation matrix L represents the parameters of the first to fourth links 141 to 144 for calculating the positions z 1 to z 4 from the states 131 a to 134 a.
- the controller 190 calculates the positions z 1 to z 4 by using the product of the transformation matrix L and the states 131 a to 134 a.
- the controller 190 calculates the positions p 1 to p 4 of the imaginary planes by using the product of the orthogonal matrix R illustrated in FIG. 13 and the positions z 1 to z 4 .
- Target values are input respectively for the positions p 1 to p 4 .
- a target value V is input for the position p 1 .
- the target value V represents the desirable position in the second direction D 2 of the imaginary plane IP 1 at each time t.
- the target value V is set so that the position in the second direction of the imaginary plane IP 1 changes along the path illustrated in FIG. 14A .
- 0 is input as the target values of the positions p 2 to p 4 .
- the controller 190 calculates deviations c 1 to c 4 respectively between the positions p 1 to p 4 and the target values.
- the deviations c 1 to c 4 respectively represent the differences between the target values and the positions of the imaginary planes IP 1 to IP 4 .
- the controller 190 calculates the product of a transposed matrix R ⁇ 1 and the deviations c 1 to c 4 . Thereby, the deviations c 1 to c 4 are converted into deviations s 1 to s 4 respectively representing the differences between the positions of the one ends of the first to fourth links 141 to 144 and the target positions of the one ends of the links.
- the controller 190 further calculates operation amounts u 1 to u 4 by using the deviations s 1 to s 4 and an inverse matrix L ⁇ 1 of the transformation matrix L.
- the controller 190 inputs the operation amounts u 1 to u 4 respectively to the first to fourth drivers 131 to 134 so that the positions of the one ends of the first to fourth links 141 to 144 approach the target positions.
- the first to fourth drivers 131 to 134 are operated so that the positions of the imaginary planes IP 2 to IP 4 do not change and so that the position of the imaginary plane IP 1 is along the desired path.
- the shaking of the holding mechanism 110 and the moving body 200 can be suppressed; and the moving body 200 can be held more stably.
- the holding apparatus 100 it is desirable to downsize the first to fourth drivers 131 to 134 . If the first to fourth drivers 131 to 134 are downsized, the outputs of these drivers become small; and the holding of the moving body 200 may become unstable. To hold the moving body 200 more stably, it may be considered to provide, in the holding apparatus 100 or the moving body 200 , a detector that detects the orientation of the holding mechanism 110 or the moving body 200 . However, in such a case, the holding apparatus 100 or the moving body 200 is enlarged by providing the detector. It is desirable for both the holding apparatus 100 and the moving body 200 to be compact when the holding apparatus 100 and the moving body 200 are provided in the gap G.
- the controller 190 generates the imaginary planes representing the orientation of the holding mechanism 110 by using the state of the first driver 131 , the state of the second driver 132 , the state of the third driver 133 , and the state of the fourth driver 134 .
- the orientation of the moving body 200 can be estimated without using a detector detecting the orientation of the moving body 200 , etc.
- the controller 190 controls the first to fourth drivers 131 to 134 based on the positions in the second direction D 2 of the imaginary planes. Thereby, the change of the orientation when moving the moving body 200 can be suppressed; and the moving body 200 can be held more stably.
- the orientation of the moving body 200 changes diversely particularly when moving over the surface of the columnar body C.
- the loads that are applied to the first to fourth drivers 131 to 134 when holding the moving body 200 also change.
- the change of the orientation when moving the moving body 200 can be suppressed even when the loads on the drivers change.
- the controller 190 generates at least a first imaginary plane and a second imaginary plane.
- the first imaginary plane represents the states of the first to fourth drivers 131 to 134 being substantially the same.
- the second imaginary plane represents the state of at least one of the first to fourth drivers 131 to 134 being different from the state of another one of the first to fourth drivers 131 to 134 .
- the second imaginary plane is, for example, one of the imaginary planes IP 2 to IP 4 illustrated in FIG. 12B to FIG. 12D .
- the controller 190 controls the first driver 131 , the second driver 132 , the third driver 133 , and the fourth driver 134 so that the change of the position in the second direction of the second imaginary plane is suppressed and so that the position in the second direction D 2 of the first imaginary plane is along the prescribed path.
- the controller 190 may compare the change of the position in the second direction D 2 of the second imaginary plane to a prescribed condition. For example, a threshold of the position in the second direction D 2 is preset. The controller 190 compares, to the threshold, the change of the position in the second direction D 2 of the second imaginary plane compared to the holding start time of the moving body 200 . When the change of the position exceeds the threshold, the controller 190 controls the first to fourth drivers 131 to 134 to reduce the speed of the holding mechanism 110 . The holding mechanism 110 may be stopped by the reduction of the speed. For example, the controller 190 may stop the holding mechanism 110 by stopping the operations of the first to fourth drivers 131 to 134 .
- the threshold is set in a range such that the moving body 200 does not fall from the holding mechanism 110 .
- the change of the position exceeding the threshold shows that the orientation of the holding mechanism 110 and the moving body 200 is changing greatly compared to the holding start time.
- the change of the position exceeds the threshold the likelihood of the moving body 200 falling from the holding mechanism 110 can be reduced by reducing the speed of the holding mechanism 110 .
- a threshold of the speed in the second direction D 2 of the second imaginary plane may be preset.
- the controller 190 compares the change of the position in the second direction D 2 of the second imaginary plane per unit time to the threshold.
- the change of the position in the second direction D 2 of the second imaginary plane per unit time is the speed in the second direction D 2 of the second imaginary plane.
- the controller 190 controls the first to fourth drivers 131 to 134 to reduce the speed of the holding mechanism 110 .
- the speed exceeding the threshold shows that the orientation of the holding mechanism 110 and the moving body 200 is changing abruptly.
- the speed exceeds the threshold the likelihood of the moving body 200 falling from the holding mechanism 110 can be reduced by reducing the speed of the holding mechanism 110 .
- the controller 190 may store a grounding point where the holding mechanism 110 contacts the surface of the columnar body C based on the change of the position in the second direction D 2 of the first imaginary plane. For example, the controller 190 determines the grounding point where the holding mechanism 110 contacts the surface of the columnar body C to be the point of the holding mechanism 110 when the position in the second direction D 2 of the first imaginary plane no longer changes even when operating the first to fourth drivers 131 to 134 . The controller 190 stores the position in the second direction D 2 of the grounding point.
- the controller 190 controls the first to fourth drivers 131 to 134 to reduce the speed of the holding mechanism 110 after operating the first to fourth drivers 131 to 134 and before the position in the second direction D 2 of the first imaginary plane reaches the stored grounding point. Thereby, the impact can be reduced when the holding mechanism 110 contacts the surface of the columnar body C. Thereby, damage of the drivers, the holding mechanism 110 , the moving body 200 , etc., can be suppressed.
- the method for controlling the first to fourth drivers 131 to 134 described above is applicable also in the case where the holding apparatus 100 is provided somewhere other than between the columnar body C and the tubular body T.
- the holding apparatus 100 holds an object provided on any surface (a first surface) by using the holding mechanism 110 .
- the holding apparatus 100 changes the position of the object in a direction perpendicular to the first surface by operating the first to fourth drivers 131 to 134 in a state in which the object is held by the holding mechanism 110 .
- the controller 190 controls the first to fourth drivers 131 to 134 based on the position of an imaginary plane in the perpendicular direction.
- a detector that detects the orientation of the holding mechanism 110 or the object is unnecessary; and the holding apparatus 100 can be downsized. Also, even without the detector, the change of the orientation when moving the object can be suppressed; and the object can be held more stably.
- a case is described in the example described above where the imaginary plane is generated using four links connected respectively to four drivers.
- the control method described above is applicable also to holding apparatuses of other configurations including at least three drivers. If the holding apparatus includes three drivers and three links, an imaginary plane that passes through one end for each of the three links is generated. Accordingly, a control method similar to that recited above can be performed.
- FIG. 16A to FIG. 16C are schematic views illustrating operations of the first to third drivers of the holding apparatus according to the modification.
- the holding apparatus includes the first to third drivers 131 to 133 and the first to third links 141 to 143 .
- the three imaginary planes IP 1 to IP 3 are generated using the states of the first to third drivers 131 to 133 .
- the tilt of the imaginary plane IP 1 illustrated in FIG. 16A is substantially the same as the tilt when the holding of the moving body 200 is started.
- FIG. 16B and FIG. 16C illustrate the imaginary planes IP 2 and IP 3 which are tilted compared to when the holding of the moving body 200 is started.
- the imaginary plane IP 1 is an example of the first imaginary plane.
- the imaginary plane IP 2 or IP 3 is an example of the second imaginary plane.
- the controller 190 controls the first to third drivers 131 to 133 so that the changes of the positions of the imaginary planes IP 2 and IP 3 are suppressed and so that the position of the imaginary plane IP 1 is along a prescribed path. Thereby, the shaking of the holding mechanism 110 and the moving body 200 when moving the moving body 200 can be suppressed; and the moving body 200 can be held more stably. This is similar also for cases where the holding apparatus includes five or more drivers.
- the holding mechanism 110 may include a plate-like stage.
- the holding mechanism 110 holds the moving body 200 by attracting and holding the moving body 200 to the stage.
- the holding apparatus 100 moves the moving body 200 on the stage along the second direction D 2 by operating drivers connected to the stage.
- the control method described above may be performed to maintain the orientation that the stage and the moving body 200 have at the holding start time.
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Abstract
Description
- This application is based upon and claims the benefit of priority from Japanese Patent Application No.2019-007712, filed on Jan. 21, 2019; the entire contents of which are incorporated herein by reference.
- Embodiments described herein relate generally to a holding apparatus, a control system, and an inspection system.
- There is a holding apparatus that holds a moving body movable in a prescribed direction. It is desirable for the holding apparatus to be compact so that the holding apparatus can be provided in a narrow space (a gap) when the moving body moves through the narrow space. To downsize the holding apparatus, it is effective to downsize the drivers included in the holding apparatus. However, when the drivers are downsized, the output of the holding apparatus decreases; and there is a possibility that the holding of the moving body may become unstable. Therefore, technology is desirable in which the moving body can be held more stably even when the output of the holding apparatus is small.
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FIG. 1 is a perspective view illustrating a holding apparatus according to an embodiment; -
FIG. 2 is a perspective view illustrating the holding apparatus according to the embodiment; -
FIG. 3 is a perspective view illustrating the holding apparatus according to the embodiment; -
FIG. 4 is a perspective view illustrating the holding apparatus according to the embodiment; -
FIGS. 5A and 5B are plan views illustrating portions of the holding apparatus according to the embodiment; -
FIG. 6 is a front view illustrating the holding apparatus according to the embodiment; -
FIGS. 7A and 7B are perspective cross-sectional views illustrating an example of equipment to which the holding apparatus according to the embodiment is applied; -
FIG. 8 is a schematic side view illustrating the moving body; -
FIG. 9 is a schematic plan view illustrating the moving body; -
FIGS. 10A to 10C are schematic views illustrating operations of the moving body; -
FIGS. 11A to 11D are schematic views illustrating operations between the moving body and the holding apparatus according to the embodiment; -
FIGS. 12A to 12D are schematic views illustrating operations of the first to fourth drivers of the holding apparatus according to the embodiment; -
FIG. 13 is a formula to which the holding apparatus according to the embodiment refers; -
FIGS. 14A and 14B are graphs illustrating changes of the positions in the second direction of the imaginary planes when the moving body is moved; -
FIG. 15 is a block diagram schematically illustrating the control of the holding apparatus according to the embodiment; and -
FIGS. 16A to 16C are schematic views illustrating operations of the first to third drivers of the holding apparatus according to the modification. - According to one embodiment, a holding apparatus holds a moving body and changes a position of the moving body in a second direction perpendicular to a surface of a columnar body. The surface of the columnar body extends in the first direction. The moving body is movable along the first direction. The apparatus includes a first holder and a second holder separated from each other in a third direction perpendicular to the first direction and the second direction. The first holder includes a first portion and a second portion separated from each other in the second direction, and a third portion. The second holder includes a fourth portion and a fifth portion separated from each other in the second direction, and a sixth portion. The moving body is held by the first holder and the second holder in a state in which the moving body is at a hold position. The hold position is where the moving body opposes the third portion and the sixth portion in the third direction and is between the first portion and the second portion and between the fourth portion and the fifth portion in the second direction.
- Various embodiments are described below with reference to the accompanying drawings.
- The drawings are schematic and conceptual; and the relationships between the thickness and width of portions, the proportions of sizes among portions, etc., are not necessarily the same as the actual values. The dimensions and proportions may be illustrated differently among drawings, even for identical portions.
- In the specification and drawings, components similar to those described previously or illustrated in an antecedent drawing are marked with like reference numerals, and a detailed description is omitted as appropriate.
-
FIG. 1 toFIG. 4 are perspective views illustrating a holding apparatus according to an embodiment. -
FIGS. 5A and 5B are plan views illustrating portions of the holding apparatus according to the embodiment. - As illustrated in
FIG. 1 toFIG. 4 , theholding apparatus 100 according to the embodiment includes aholding mechanism 110. Theholding mechanism 110 is configured to hold a movingbody 200 illustrated inFIG. 2 toFIG. 4 . Theholding mechanism 110 includes afirst holder 111 and asecond holder 112 for holding the movingbody 200. The movingbody 200 is held between thefirst holder 111 and thesecond holder 112. -
FIG. 2 toFIG. 4 illustrate a state in which theholding apparatus 100 is mounted to a columnar body C. The columnar body C extends in a first direction D1. For example, the columnar body C is a circular column; and the center of the columnar body C is parallel to the first direction D1. Or, the columnar body C may be a prism. For example, a not-illustrated tubular body is provided around the columnar body C. The tubular body is a circular tube or a quadrilateral tube. For example, theholding apparatus 100 and the movingbody 200 are provided in a gap between the columnar body C and the tubular body. - The moving
body 200 moves over the surface of the columnar body C along the first direction D1. For example, the columnar body C includes a first columnar part C1 and a second columnar part C2. The first columnar part C1 and the second columnar part C2 are arranged in the first direction D1. The dimension of the first columnar part C1 in a direction perpendicular to the first direction D1 is longer than the dimension of the second columnar part C2 in the perpendicular direction. For example, the surface of the first columnar part C1 is linked to the surface of the second columnar part C2. A level difference exists between the surface of the first columnar part C1 and the surface of the second columnar part C2. - For example, the holding
apparatus 100 is mounted to the first columnar part C1. The movingbody 200 moves over the surface of the second columnar part C2 along the first direction D1. The holdingapparatus 100 places thefirst holder 111 and thesecond holder 112 at the surface of the second columnar part C2. The movingbody 200 moves between thefirst holder 111 and thesecond holder 112 placed at the surface of the second columnar part C2 and is held by thefirst holder 111 and thesecond holder 112. - Multiple drivers are connected to the
holding mechanism 110.FIG. 5A illustrates thesecond holder 112 of theholding mechanism 110; andFIG. 5B illustrates thefirst holder 111 of theholding mechanism 110. For example, as illustrated inFIG. 5A andFIG. 5B , the holdingapparatus 100 includes first tofourth drivers 131 to 134 and first tofourth links 141 to 144. Thefirst driver 131 and thesecond driver 132 are connected to thefirst holder 111 respectively via thefirst link 141 and thesecond link 142. Thethird driver 133 and thefourth driver 134 are connected to thesecond holder 112 respectively via thethird link 143 and thefourth link 144. - When the first to
fourth drivers 131 to 134 are operated, the drive forces are transferred to thefirst holder 111 and thesecond holder 112 via the first tofourth links 141 to 144. The position of the movingbody 200 in a second direction D2 perpendicular to the surface of the columnar body C can be changed by operating the first tofourth drivers 131 to 134 in the state in which the movingbody 200 is held. The second direction D2 is perpendicular to the first direction D1. An example of the second direction D2 is shown in the drawings. - For example, the holding
apparatus 100 switches the position in the second direction D2 of the movingbody 200 between a first position and a second position. At the first position, the movingbody 200 is proximal to the surface of the columnar body C; and the movingbody 200 that is between thefirst holder 111 and thesecond holder 112 can move toward the surface of the columnar body C.FIG. 2 illustrates the state when the movingbody 200 is at the first position. - At the second position, compared to the first position, the moving
body 200 is separated from the surface of the columnar body C. In other words, the distance between the second position and the surface of the columnar body C is longer than the distance between the first position and the surface of the columnar body C.FIG. 3 illustrates the state when the movingbody 200 is at the second position. - For example, the
first holder 111 and thesecond holder 112 contact a portion of the surface of the columnar body C when the movingbody 200 is at the first position. The holdingapparatus 100 moves the movingbody 200 in a direction perpendicular to the portion of the surface of the columnar body C. When the movingbody 200 is at the second position, thefirst holder 111 and thesecond holder 112 are separated from the portion of the surface of the columnar body C. - In the example illustrated in
FIG. 1 toFIG. 5B , the holdingapparatus 100 further includes a pair ofbases connector 153, a pair ofsliders connector 156. - The
first driver 131 and thesecond driver 132 are fixed to theslider 154. Theslider 154 is slidable along the first direction D1 with respect to thebase 151. Similarly, thethird driver 133 and thefourth driver 134 are fixed to theslider 155. Theslider 155 is slidable along the first direction D1 with respect to thebase 152. - The
bases movement mechanism 160 described below. Accordingly, theholding mechanism 110 moves along the first direction D1 when thesliders bases body 200 also moves along the first direction D1 when the movingbody 200 is held by theholding mechanism 110. - The
holding mechanism 110 and the movingbody 200 are moved from the state illustrated inFIG. 3 to the state illustrated inFIG. 4 by the operations of thesliders sliders holding mechanism 110 and the movingbody 200 oppose the second columnar part C2 in the second direction D2 and the state in which theholding mechanism 110 and the movingbody 200 oppose the first columnar part C1 in the second direction D2 can be switched. - For example, the holding
apparatus 100 moves theholding mechanism 110 toward the first columnar part C1 from the state illustrated inFIG. 4 through the states illustrated inFIG. 2 andFIG. 3 . The holdingapparatus 100 causes thefirst holder 111 and thesecond holder 112 to contact the surface of the first columnar part C1. Thereby, the movingbody 200 that is between thefirst holder 111 and thesecond holder 112 is in a state of being movable toward the surface of the first columnar part C1. By the operations described above, the movingbody 200 can be moved from the surface of the second columnar part C2 to the surface of the first columnar part C1. - Or, the holding
apparatus 100 causes thefirst holder 111 and thesecond holder 112 to approach the surface of the first columnar part C1 and forms a state in which the movingbody 200 can move between thefirst holder 111 and thesecond holder 112 from the surface of the first columnar part C1. When the holdingapparatus 100 holds the movingbody 200 on the surface of the first columnar part C1, thefirst holder 111 and thesecond holder 112 move through the states illustrated inFIG. 4 andFIG. 3 and are caused to contact the surface of the second columnar part C2 as illustrated inFIG. 2 . By the operations described above, the movingbody 200 can be moved from the surface of the first columnar part C1 to the surface of the second columnar part C2. - The
bases sliders fourth drivers 131 to 134, etc. Also, as illustrated inFIG. 1 toFIG. 4 , thebases connector 153 which is rigid. The change of the positional relationship between the base 151 and the base 152 can be suppressed further by thebase 151 and the base 152 being connected by theconnector 153. - Similarly, the
sliders slider 154 and theslider 155 substantially does not change in the operations of the first tofourth drivers 131 to 134, etc. Thesliders connector 156 which is rigid. The change of the positional relationship between theslider 154 and theslider 155 can be suppressed further by theslider 154 and theslider 155 being connected by theconnector 156. - As illustrated in
FIG. 1 , the holdingapparatus 100 further includes themovement mechanism 160. Themovement mechanism 160 moves theholding mechanism 110 along a third direction D3. The third direction D3 is perpendicular to the first direction D1 and the second direction D2. By moving theholding mechanism 110 along the third direction D3, the position in the third direction D3 of the movingbody 200 that is held changes. For example, in the case where the columnar body C has a circular columnar configuration, the first direction D1 is parallel to the central axis. The second direction D2 corresponds to the diametrical direction of the columnar body C. The third direction D3 corresponds to the circumferential direction of the columnar body C. - The holding
apparatus 100 operates themovement mechanism 160 while holding the movingbody 200 in a state of being separated from the columnar body C. The position in the third direction D3 of the movingbody 200 is changed thereby. When the position of the movingbody 200 changes, the holdingapparatus 100 moves the movingbody 200 toward the columnar body C by operating the first tofourth drivers 131 to 134. Thereby, the movingbody 200 can move along the first direction D1 at a location different from the location before being held. For example, the movement in the first direction D1 of the movingbody 200 and the movement in the third direction D3 of the movingbody 200 due to the holdingapparatus 100 are repeated alternately. - For example, the
movement mechanism 160 is provided to be separated from theholding mechanism 110; and the columnar body C is positioned between the holdingmechanism 110 and themovement mechanism 160. Themovement mechanism 160 is coupled to thebase 151 by afirst coupler 171 and coupled to thebase 152 by asecond coupler 172. Theholding mechanism 110, themovement mechanism 160, thefirst coupler 171, and thesecond coupler 172 are coupled in a ring configuration and are wound onto the columnar body C. - For example, the length of the
first coupler 171 is substantially the same as the length of thesecond coupler 172. By providing theholding mechanism 110 and themovement mechanism 160 so that the columnar body C is positioned between the holdingmechanism 110 and themovement mechanism 160, themovement mechanism 160 and theholding mechanism 110 act as mutual counterweights. For example, the change of the position in the third direction D3 of theholding mechanism 110 or themovement mechanism 160 can be suppressed by the weight of theholding mechanism 110 or themovement mechanism 160. - The
movement mechanism 160 includes, for example, aroller 161, amotor 162, and anencoder 163. Theroller 161 is connected to themotor 162 and contacts the surface of the columnar body C. Theroller 161 rotates when themotor 162 operates. Themovement mechanism 160 is moved over the surface of the columnar body C along the third direction D3 by the rotation of theroller 161. Themovement mechanism 160 is coupled to thebases first coupler 171 and thesecond coupler 172. Therefore, when themovement mechanism 160 moves, theholding mechanism 110 also moves along the third direction D3. - The
encoder 163 detects the rotational speed (or the rotation angle) of themotor 162 or theroller 161. Theencoder 163 calculates the movement distance of themovement mechanism 160 in the third direction D3 based on the detected rotational speed. In other words, the movement distance of themovement mechanism 160 is the movement distance of theholding mechanism 110. When theholding mechanism 110 holds the movingbody 200, the movement distance of themovement mechanism 160 corresponds to the movement distance of the movingbody 200. -
Rollers bases rollers rollers rollers movement mechanism 160. Thereby, thebases -
FIG. 6 is a front view illustrating the holding apparatus according to the embodiment. -
FIG. 6 illustrates the state when the holdingapparatus 100 and the movingbody 200 are viewed along the direction of arrow A1 illustrated inFIG. 2 . - As illustrated in
FIG. 5A toFIG. 6 , thefirst holder 111 includes afirst portion 111 a, asecond portion 111 b, and athird portion 111 c. Thefirst portion 111 a and thesecond portion 111 b are separated from each other in the second direction D2. The position in the second direction D2 of thethird portion 111 c is between the position in the second direction D2 of thefirst portion 111 a and the position in the second direction D2 of thesecond portion 111 b. Thefirst portion 111 a and thesecond portion 111 b may be linked to thethird portion 111 c or may be separated from thethird portion 111 c. - The
second holder 112 includes afourth portion 112 d, afifth portion 112 e, and asixth portion 112 f. Thefourth portion 112 d and thefifth portion 112 e are separated from each other in the second direction D2. The position in the second direction D2 of thesixth portion 112 f is between the position in the second direction D2 of thefourth portion 112 d and the position in the second direction D2 of thefifth portion 112 e. Thefourth portion 112 d and thefifth portion 112 e may be linked to thesixth portion 112 f or may be separated from thesixth portion 112 f. - For example, the first to
third portions 111 a to 111 c and the fourth tosixth portions 112 d to 112 f have thin plate configurations and extend in the first direction D1. It is desirable for the lengths in the first direction D1 of the first tothird portions 111 a to 111 c and the fourth tosixth portions 112 d to 112 f each to be about the same as or longer than the length in the first direction D1 of the movingbody 200 to stably hold the movingbody 200. Also, the first tothird portions 111 a to 111 c and the fourth tosixth portions 112 d to 112 f are rigid so that these portions do not deform when holding the movingbody 200. - As illustrated in
FIG. 6 , when the movingbody 200 is held by the holdingapparatus 100, the movingbody 200 is stored at a hold position between thefirst holder 111 and thesecond holder 112. At the hold position, the movingbody 200 opposes thethird portion 111 c and thesixth portion 112 f in the third direction D3 and is between thefirst portion 111 a and thesecond portion 111 b and between thefourth portion 112 d and thefifth portion 112 e in the second direction D2. In other words, the two ends in the third direction D3 of the movingbody 200 are positioned respectively inside thefirst holder 111 and thesecond holder 112 which are C-shaped. Thereby, when the movingbody 200 is moved by the holdingapparatus 100, the movement of the movingbody 200 between thefirst holder 111 and thesecond holder 112 due to vibrations, etc., can be suppressed. - A
controller 190 controls the components of the holdingapparatus 100. For example, thecontroller 190 operates the first tofourth drivers 131 to 134, thesliders movement mechanism 160 by transmitting commands to these components. For example, thecontroller 190 has wired connections to the components via acable 191. Or, thecontroller 190 may transmit a wireless signal to the components. Or, thecontroller 190 may be included in thebases - Effects of the embodiment will now be described.
- In the holding
apparatus 100 according to the embodiment, theholding mechanism 110 includes thefirst holder 111 and thesecond holder 112. Thefirst holder 111 includes thefirst portion 111 a, thesecond portion 111 b, and thethird portion 111 c. Thesecond holder 112 includes thefourth portion 112 d, thefifth portion 112 e, and thesixth portion 112 f. Theholding mechanism 110 holds the movingbody 200 at the hold position by using thefirst holder 111 and thesecond holder 112. - At the hold position, the moving
body 200 opposes thethird portion 111 c and thesixth portion 112 f in the third direction D3 and is between thefirst portion 111 a and thesecond portion 111 b and between thefourth portion 112 d and thefifth portion 112 e in the second direction D2. Thereby, the movement of the movingbody 200 in the second direction D2 or the third direction D3 between thefirst holder 111 and thesecond holder 112 can be suppressed when the holdingapparatus 100 changes the position in the second direction D2 of the movingbody 200. In other words, according to the holdingapparatus 100 according to the embodiment or a control system including the holdingapparatus 100 and the movingbody 200, the position in the second direction D2 of the movingbody 200 can be changed in a state in which the movingbody 200 is held more stably. - The holding
apparatus 100 can change the position in the third direction D3 of the movingbody 200 by themovement mechanism 160. The movingbody 200 is held at the hold position described above even when the movingbody 200 is moved along the third direction D3. Therefore, the position in the third direction D3 of the movingbody 200 can be changed in a state in which the movingbody 200 is held more stably. - The
first holder 111 may be configured to modify the distance (a first distance) in the second direction D2 between thefirst portion 111 a and thesecond portion 111 b. For example, thefirst holder 111 includes a driver that changes the first distance. Also, thesecond holder 112 may be configured to modify the distance (a second distance) in the second direction D2 between thefourth portion 112 d and thefifth portion 112 e. For example, thesecond holder 112 includes a driver that changes the second distance. These drivers include actuators (e.g., motors). - When the moving
body 200 moves to the hold position between thefirst holder 111 and thesecond holder 112, thefirst holder 111 shortens the first distance; and thesecond holder 112 shortens the second distance. For example, thefirst holder 111 causes thefirst portion 111 a and thesecond portion 111 b to contact the movingbody 200 and clamps the movingbody 200 with thefirst portion 111 a and thesecond portion 111 b. Thesecond holder 112 causes thefourth portion 112 d and thefifth portion 112 e to contact the movingbody 200 and clamps the movingbody 200 with thefourth portion 112 d and thefifth portion 112 e. By shortening the first distance and the second distance, the movement of the movingbody 200 in the second direction D2 between thefirst holder 111 and thesecond holder 112 while the movingbody 200 is held can be suppressed further. - The
first holder 111 may be configured to modify the position in the third direction D3 of thethird portion 111 c. For example, the driver of thefirst holder 111 recited above changes the position in the third direction D3 of thethird portion 111 c. Thesecond holder 112 may be configured to modify the position in the third direction D3 of thesixth portion 112 f. For example, the driver of thesecond holder 112 recited above changes the position in the third direction D3 of thesixth portion 112 f. - When the moving
body 200 moves to the hold position between thefirst holder 111 and thesecond holder 112, thefirst holder 111 moves thethird portion 111 c and shortens the distance (a third distance) in the third direction D3 between thethird portion 111 c and the movingbody 200. Thesecond holder 112 moves thesixth portion 112 f and shortens the distance (a fourth distance) in the third direction D3 between thethird portion 111 c and the movingbody 200. For example, thefirst holder 111 causes thethird portion 111 c to contact the movingbody 200; and thesecond holder 112 causes thesixth portion 112 f to contact the movingbody 200. By shortening the third distance and the fourth distance, the movement of the movingbody 200 in the third direction D3 between thefirst holder 111 and thesecond holder 112 while the movingbody 200 is held can be suppressed further. - As illustrated in
FIG. 5B , the holdingapparatus 100 may include adetector 180. Thedetector 180 detects the movingbody 200 to be at the hold position. For example, thedetector 180 includes an infrared sensor. The infrared sensor includes a light emitter and a light receiver. For example, the reflectance of a portion of the surface of the movingbody 200 is configured to be larger than the reflectance of another portion of the surface. When the movingbody 200 moves to the hold position, the infrared rays that are radiated from the light emitter are incident on the portion of the surface of the movingbody 200. More intense infrared rays are reflected toward the light receiver; and the intensity of the reflected light detected by the light receiver changes. Based on the change of the reflected light intensity, the infrared sensor detects that the movingbody 200 has moved to the hold position. - The
detector 180 may include at least one of a through-beam sensor, a laser sensor, a magnet sensor, an ultrasonic sensor, a pressure sensor, an image sensor, or an optical position sensor. Or, thedetector 180 may include a camera. The camera images theholding mechanism 110 and the movingbody 200 and acquires an image. Based on the image, thedetector 180 detects that the movingbody 200 is at the hold position. Thus, the specific configuration of thedetector 180 is modifiable as appropriate as long as the movingbody 200 can be detected at the hold position. - When the holding
apparatus 100 operates in a state in which the movingbody 200 is at a position shifted from the desirable hold position, there is a possibility that the movingbody 200 cannot be held stably. For example, there is a possibility that the movingbody 200 may fall from theholding mechanism 110 while the movingbody 200 is being moved. For example, when thedetector 180 detects the movingbody 200 to be at the hold position, thecontroller 190 moves the movingbody 200 by using theholding mechanism 110. Thereby, the movingbody 200 can be held more stably by theholding mechanism 110. -
FIG. 7A is a perspective cross-sectional view illustrating an example of equipment to which the holding apparatus according to the embodiment is applied.FIG. 7B is an enlarged view of portion P ofFIG. 7A . - Equipment E illustrated in
FIG. 7A includes the columnar body C, and a tubular body T provided around the columnar body C. In the equipment E, the columnar body C has a circular columnar configuration. The tubular body T has a circular tubular configuration. The columnar body C rotates inside the tubular body T. A rotation axis Ax of the columnar body C is parallel to the first direction D1. For example, the equipment E is a generator. - As illustrated in
FIG. 7B , the holdingapparatus 100 is provided in a gap G between the columnar body C and the tubular body T. The movingbody 200 moves through the gap G along the first direction D1. Many holes H exist in the surface of the columnar body C. For example, the movingbody 200 inspects the interiors of the holes H while moving over the surface of the columnar body C. Or, the movingbody 200 inspects the tubular body T while moving over the surface of the columnar body C. For example, a control system that includes the holdingapparatus 100 and the movingbody 200 is used as an inspection system inspecting the columnar body C or the tubular body T. - For example, the moving
body 200 inspects the columnar body C or the tubular body T at some point in the third direction D3 while moving along the first direction D1 on the surface of the columnar body C. When the inspection of the columnar body C or the tubular body T at the point in the third direction D3 is completed, the movingbody 200 is moved in the third direction D3 by the holdingapparatus 100. Subsequently, the movingbody 200 inspects the columnar body C or the tubular body T at another point in the third direction D3 while moving along the first direction D1 on the surface of the columnar body C. A wide area of the columnar body C or the tubular body T is inspected by alternately repeating the movement in the first direction D1 of the movingbody 200 and the movement in the third direction D3 of the movingbody 200 due to the holdingapparatus 100. - If the holding
apparatus 100 can hold the movingbody 200 more stably, the movingbody 200 can be moved more accurately to the prescribed position. For example, the misalignment in the third direction D3 of the movingbody 200 can be suppressed. The points of the columnar body C or the points of the tubular body T can be inspected more accurately thereby. The occurrence of misalignment in the third direction D3 of the movingbody 200 in which a portion of the columnar body C or the tubular body T is not inspected can be suppressed. -
FIG. 8 is a schematic side view illustrating the moving body. -
FIG. 9 is a schematic plan view illustrating the moving body. - For example, as illustrated in
FIG. 8 andFIG. 9 , the movingbody 200 includes avehicle body 201, acrawler 202, acontact part 210, anelastic member 220, anactuator 230, adetector 240, and acontroller 260. - The
crawler 202 includes a belt and multiple wheels. Thevehicle body 201 advances or retreats due to the multiple wheels rotating in a state in which the belt contacts the surface of the columnar body C. Thecrawlers 202 are provided respectively at the left and right. Also, the travel direction of the movingbody 200 can be oriented toward the left side or the right side by adjusting the rotational speeds of the wheels of thecrawlers 202. Instead of thecrawler 202 which is a caterpillar track, the movingbody 200 may include only a wheel or wheels. - The
contact part 210 can contact the tubular body T. The movingbody 200 can switch between a contacting state in which thecontact part 210 contacts the tubular body T, and a separated state in which thecontact part 210 is separated from the tubular body T. - For example, the
contact part 210 includes anarm 211 and aroller 212. One end of thearm 211 is pivotally supported by thevehicle body 201. Thearm 211 is rotatable with respect to thevehicle body 201. Theroller 212 is provided at the other end of thearm 211. Theroller 212 contacts the tubular body T. By providing theroller 212, the movingbody 200 can move smoothly over the surface of the columnar body C while causing thecontact part 210 to contact the surface of the tubular body T. - The
elastic member 220 is coupled to thevehicle body 201 and thearm 211. Theelastic member 220 generates an elastic force corresponding to the angle between thevehicle body 201 and thearm 211. For example, theelastic member 220 applies the elastic force to thearm 211 along the rotation direction of thearm 211. The direction of the elastic force is arbitrary. The elastic force that is generated by theelastic member 220 at an angle θ may be in a direction to increase the angle θ or may be in a direction to reduce the angle θ. - As illustrated in
FIG. 2 , theactuator 230 is coupled to thevehicle body 201 and thearm 211. Theactuator 230 is a drive mechanism fixed with respect to thevehicle body 201. A force is applied to thearm 211 by driving theactuator 230. For example, theactuator 230 can generate torque on the angle between thevehicle body 201 and thearm 211 in a direction to increase and/or in a direction to decrease. - The
actuator 230 is, for example, an electric motor coupled to the one end of thearm 211. Theelastic member 220 is a torsion coil spring coupled to thevehicle body 201 and thearm 211. For example, arotation axis 231 of theactuator 230 coupled to the one end of thearm 211 protrudes to the opposite side of thearm 211. The protrudingrotation axis 231 is provided at an inner side of at least a portion of theelastic member 220. - The
detector 240 detects the angle of thearm 211 with respect to thevehicle body 201. Thedetector 240 is, for example, a rotary encoder provided in theactuator 230. - The specific configuration of the
contact part 210 is modifiable as appropriate. For example, thearm 211 may include multiple links coupled to each other, and may be extendable/retractable in the second direction D2. The specific configurations of theelastic member 220 and theactuator 230 also are modifiable as appropriate according to the configuration of thecontact part 210. - A
tester 251 inspects at least one of the columnar body C or the tubular body T. Thetester 251 includes, for example, an ultrasonic sensor, a striking device, or a camera that inspects scratches, etc., of these structural components. - Also, the moving
body 200 includes, for example, acamera 252, a measuringinstrument 253, adetector 254, anilluminator 255, and acamera 256. Thecamera 252 images the surface of the columnar body C or the tubular body T. The measuringinstrument 253 measures the distance between the surfaces of thevehicle body 201 and the tubular body T. Thedetector 254 detects the unevenness of the surface of the columnar body C. Theilluminator 255 illuminates the columnar body C or the tubular body T. Thecamera 256 images the travel direction of the movingbody 200. - Because the
arm 211 is pressed onto the surface of the tubular body T, a resisting force on the movingbody 200 from the surface of the tubular body T is generated. The movingbody 200 is pressed toward the surface of the columnar body C by the resisting force. Thecontroller 260 controls theactuator 230 and adjusts the torque acting on thearm 211 from theactuator 230. Thereby, the force (hereinbelow, called the pressing force) that presses thearm 211 to the surface of the tubular body T can be adjusted; and the resisting force that acts on the movingbody 200 can be adjusted. Specifically, thecontroller 260 controls theactuator 230 so that the pressing force is a preset force. - The
controller 260 also may control the operations of thecamera 252, the measuringinstrument 253, thedetector 254, theilluminator 255, thecamera 256, etc. For example, thecontroller 260 is placed outside the gap G and has a wired connection to thevehicle body 201 via acable 261. Or, thevehicle body 201 may have a wireless connection to thecontroller 260. Or, thecontroller 260 may be mounted in thevehicle body 201. -
FIGS. 10A to 10C are schematic views illustrating operations of the moving body. - As illustrated in
FIG. 10A andFIG. 10B , there are cases where the movingbody 200 has a horizontal orientation and moves over a vertical portion of the surface of the columnar body C. In other words, the movingbody 200 may move over the surface of the columnar body C in a state in which the direction of a line connecting the contact portion between the movingbody 200 and the columnar body C and the contact portion between the movingbody 200 and the tubular body T is horizontal. - Or, as illustrated in
FIG. 10C , there are cases where the movingbody 200 has a downward orientation and moves over a horizontal portion of the surface of the columnar body C. In other words, the movingbody 200 may move over the surface of the columnar body C in a state in which the direction from the contact portion between the movingbody 200 and the tubular body T toward the contact portion between the movingbody 200 and the columnar body C is the reverse of the direction of gravity. - As illustrated in
FIG. 10A toFIG. 10C , the angle of the line direction with respect to the direction of gravity changes according to the position in the third direction D3 of the movingbody 200. The movingbody 200 causes thecontact part 210 to contact the tubular body T so that the movingbody 200 does not fall at any position. - In the equipment E illustrated in
FIG. 7A , the gap G which is between the columnar body C and the tubular body T is micro. It is desirable for the holdingapparatus 100 to be small to provide theholding apparatus 100 in such a micro gap G. To downsize the holdingapparatus 100, it is particularly effective to downsize the first tofourth drivers 131 to 134. If the first tofourth drivers 131 to 134 are downsized, the outputs of these drivers are reduced; and the holding of the movingbody 200 may become unstable. However, in the holdingapparatus 100 according to the embodiment, the movingbody 200 can be held more stably by the structure of thefirst holder 111 and the structure of thesecond holder 112 described above. Accordingly, particularly in the micro gap G, the holdingapparatus 100 according to the embodiment is provided favorably. - As illustrated in
FIG. 10A toFIG. 10C , the orientation of the movingbody 200 when being held changes diversely. In other words, the direction of the line connecting the contact portion between the movingbody 200 and the columnar body C and the contact portion between the movingbody 200 and the tubular body T changes diversely in a plane perpendicular to the first direction D1. When the orientation of the movingbody 200 changes, the force of gravity acting on the movingbody 200 in the second direction D2 and the force of gravity acting on the movingbody 200 in the third direction D3 change. - According to the holding
apparatus 100 according to the embodiment, the movement of the movingbody 200 in the directions (the second direction D2 and the third direction D3) perpendicular to the first direction D1 can be suppressed by thefirst holder 111 and thesecond holder 112 for any orientation. -
FIG. 11A toFIG. 11D are schematic views illustrating operations between the moving body and the holding apparatus according to the embodiment. -
FIG. 11A toFIG. 11D illustrate the state when the movingbody 200 is held by theholding mechanism 110. As illustrated inFIG. 11A , the movingbody 200 moves over the surface of the columnar body C while causing thecontact part 210 to contact the tubular body T. Subsequently, as illustrated inFIG. 11B , the movingbody 200 moves to the hold position while causing thecontact part 210 to contact the tubular body T. - For example, in the state of
FIG. 11B , thedetector 180 of the holding apparatus 100 (shown inFIG. 5B ) detects the movingbody 200 to be at the hold position. Thecontroller 190 receives a detection result output from thedetector 180 and transmits a signal to the movingbody 200. When thecontroller 260 of the movingbody 200 receives this signal, thecontact part 210 is separated from the surface of the tubular body T as illustrated inFIG. 11C . - After the
contact part 210 is separated from the surface of the tubular body T, thecontroller 260 transmits a signal to the holdingapparatus 100. When thecontroller 190 of the holdingapparatus 100 receives this signal, thecontroller 190 changes the position in the second direction D2 of the movingbody 200 as illustrated inFIG. 11D . - In the method illustrated in
FIG. 11B toFIG. 11D , the holdingapparatus 100 moves the movingbody 200 in a direction away from the surface of the columnar body C after thecontact part 210 is separated from the tubular body T. Instead of this method, the holdingapparatus 100 may change the position in the second direction D2 of the movingbody 200 in a state in which thecontact part 210 is caused to contact the tubular body T. For example, thecontroller 260 weakens the pressing force of thecontact part 210 when the holdingapparatus 100 moves the movingbody 200. - However, if the moving
body 200 is moved in the state in which thecontact part 210 is caused to contact the tubular body T, it is necessary for the first tofourth drivers 131 to 134 to output larger forces. The first tofourth drivers 131 to 134 must be enlarged to increase the outputs of the first tofourth drivers 131 to 134. As a result, the holdingapparatus 100 is enlarged. Accordingly, to downsize the holdingapparatus 100, it is desirable to perform the method illustrated inFIG. 11B toFIG. 11D . - A method for controlling the first to
fourth drivers 131 to 134 of the holdingapparatus 100 according to the embodiment will now be described. - When the moving
body 200 is moved by theholding mechanism 110, it is desirable for the shaking or the like of theholding mechanism 110 and the movingbody 200 to be small and more stable. If theholding mechanism 110 or the movingbody 200 shakes when moving the movingbody 200, there is a possibility that the movingbody 200 may fall from theholding mechanism 110. Or, there is a possibility that theholding mechanism 110 and the movingbody 200 may contact and damage the columnar body C or the tubular body T. - To suppress the shaking of the
holding mechanism 110 and the movingbody 200, it is desirable to maintain, while moving the movingbody 200, the orientation that the movingbody 200 has when the holding by theholding mechanism 110 is started. In other words, it is desirable for the difference to be small between the orientation while moving the movingbody 200 and the orientation when the holding of the movingbody 200 is started. - The orientation of the
holding mechanism 110 corresponds to the relationship between the direction of gravity and an imaginary plane generated by connecting multiple designated components included in theholding mechanism 110. For example, the imaginary plane of theholding mechanism 110 passes through thefirst holder 111 and thesecond holder 112. A change of the orientation of theholding mechanism 110 means that the angle between the imaginary plane and the direction of gravity has changed. - Similarly, the orientation of the moving
body 200 corresponds to the relationship between the direction of gravity and an imaginary plane generated by connecting multiple designated components included in the movingbody 200. For example, the imaginary plane of the movingbody 200 passes through the wheels of thecrawlers 202. A change of the orientation of the movingbody 200 means that the angle between the imaginary plane and the direction of gravity has changed. -
FIG. 12A toFIG. 12D are schematic views illustrating operations of the first to fourth drivers of the holding apparatus according to the embodiment. - The first to
fourth drivers 131 to 134 are connected respectively to the first tofourth links 141 to 144. One end is connected to theholding mechanism 110 for each of the first tofourth links 141 to 144. Here, as illustrated inFIG. 12A toFIG. 12D , an imaginary plane that connects the one ends of the first tofourth links 141 to 144 is considered. The orientation of theholding mechanism 110 and the movingbody 200 corresponds to the tilt of the imaginary plane (the angle between the imaginary plane and the direction of gravity). The orientation of theholding mechanism 110 and the movingbody 200 changes when the tilt of the imaginary plane changes. Accordingly, the change of the orientation of theholding mechanism 110 and the movingbody 200 can be suppressed by reducing the change of the tilt of the imaginary plane while moving the movingbody 200. - Here, an example will be described in which the first to
fourth drivers 131 to 134 are motors.FIG. 12A illustrates the case where the states of the motors of the first tofourth drivers 131 to 134 are substantially the same. The tilt of an imaginary plane IP1 ofFIG. 12A is substantially the same as the tilt when the holding of the movingbody 200 is started. -
FIG. 12B illustrates the case where the state of thefirst driver 131 and the state of thethird driver 133 are different from the state of thesecond driver 132 and the state of thefourth driver 134. An imaginary plane IP2 illustrated inFIG. 12B is tilted downward from thesecond link 142 and thefourth link 144 toward thefirst link 141 and thethird link 143. -
FIG. 12C illustrates the case where the state of thefirst driver 131 and the state of thesecond driver 132 are different from the state of thethird driver 133 and the state of thefourth driver 134. An imaginary plane IP3 illustrated inFIG. 12C is tilted downward from thethird link 143 and thefourth link 144 toward thefirst link 141 and thesecond link 142. -
FIG. 12D illustrates the case where the state of thesecond driver 132 and the state of thethird driver 133 are different from the state of thefirst driver 131 and the state of thefourth driver 134. Twisting has occurred in an imaginary plane IP4 ofFIG. 12D . In other words, an imaginary plane that is generated by thefirst driver 131, thesecond driver 132, and thefourth driver 134 and an imaginary plane that is generated by thefirst driver 131, thethird driver 133, and thefourth driver 134 exist. - For example, the rotation amounts of the drivers from the holding start time of the moving
body 200 are used as the states of the drivers. If the rotation amounts of the drivers are the same, the orientation of theholding mechanism 110 and the movingbody 200 substantially has not changed from the holding start time as illustrated inFIG. 12A . Or, the loads on the drivers are used as the states of the drivers. If the same force is output to theholding mechanism 110 from each of the drivers, the orientation of theholding mechanism 110 and the movingbody 200 substantially does not change from the holding start time; and the loads on the drivers are substantially the same. For example, thecontroller 190 detects the rotation amounts or the loads of the drivers. - In the holding
apparatus 100 according to the embodiment, thefirst driver 131 and thesecond driver 132 are connected to thethird driver 133 and thefourth driver 134 via theslider 154, theslider 155, and theconnector 156. Accordingly, the orientations of theholding mechanism 110 and the movingbody 200 corresponding to the imaginary planes IP3 and IP4 illustrated inFIG. 12C andFIG. 12D actually do not occur. This is because when operating the first tofourth drivers 131 to 134, the state of thefirst driver 131 is the same as the states of the third drivers; and the state of thesecond driver 132 is the same as the state of thefourth driver 134. However, the imaginary planes IP3 and IP4 illustrated inFIG. 12C andFIG. 12D are considered in the calculations based on the states of the first tofourth drivers 131 to 134. - The
controller 190 generates the imaginary planes illustrated inFIG. 12A toFIG. 12D based on the states of the first tofourth drivers 131 to 134. For example, the position in the second direction D2 of the one end of thefirst link 141 is taken as z1. The position in the second direction D2 of the one end of thesecond link 142 is taken as z2. The position in the second direction D2 of the one end of thethird link 143 is taken as z3. The position in the second direction D2 of the one end of thefourth link 144 is taken as z4. - For example, the lengths of the links (the distances between the portions connected to the drivers and the portions connected to the holding mechanism 110) are preset. In such a case, by knowing the rotation amounts of the first to
fourth drivers 131 to 134, the positions z1 to z4 of the one ends of the first tofourth links 141 to 144 can be calculated. By using an orthogonal matrix and z1 to z4, the positions of the imaginary planes illustrated inFIG. 12A toFIG. 12D are calculated by the formula illustrated inFIG. 13 . -
FIG. 13 is a formula to which the holding apparatus according to the embodiment refers. - In the formula of
FIG. 13 , p1 is the position in the second direction D2 of the imaginary plane IP1 shown inFIG. 12A . p2 is the position in the second direction D2 of the imaginary plane IP2 shown inFIG. 12B . p3 is the position in the second direction D2 of the imaginary plane IP3 shown inFIG. 12C . p4 is the position in the second direction D2 of the imaginary plane IP4 shown inFIG. 12D . The calculation of the positions p1 to p4 corresponds to the generation of the imaginary planes IP1 to IP4 illustrated in FIG. 12A toFIG. 12D . -
FIG. 14A andFIG. 14B are graphs illustrating changes of the positions in the second direction of the imaginary planes when the moving body is moved. - In
FIG. 14A andFIG. 14B , the horizontal axis is time t. The vertical axis is the position p in the second direction D2 of each of the imaginary planes. The solid line illustrates the change of the position p of the imaginary plane IP1. The broken line illustrates the change of the position p of the imaginary plane IP2. The dotted line illustrates the change of the position p of the imaginary plane IP3. The broken chain line illustrates the change of the position p of the imaginary plane IP4. In the graphs ofFIG. 14A andFIG. 14B , the calculated positions p of the imaginary planes are set to 0 when theholding mechanism 110 holds the movingbody 200. -
FIG. 14A illustrates the result when the movingbody 200 is moved while maintaining the orientation at the holding start time of the movingbody 200. In such a case, it can be seen fromFIG. 14A that only the position of the imaginary plane IP1 changes. The positions of the imaginary planes IP2 to IP4 substantially do not change. This shows that the shaking or the like of theholding mechanism 110 and the movingbody 200 is small and stable when the movingbody 200 is moved. -
FIG. 14B illustrates a result when shaking of theholding mechanism 110 and the movingbody 200 occurs when moving the movingbody 200. In the example ofFIG. 14B , the position of the imaginary plane IP1 and the position of the imaginary plane IP2 change. This shows that the state of thefirst driver 131 and the state of thethird driver 133 are different from thesecond driver 132 and the state of thefourth driver 134 as in the imaginary plane IP2 illustrated inFIG. 12B . -
FIG. 15 is a block diagram schematically illustrating the control of the holding apparatus according to the embodiment. - To move the moving
body 200 more stably, it is desirable for the changes of the positions of the imaginary planes IP2 to IP4 to be small. Thecontroller 190 controls the first tofourth drivers 131 to 134 to suppress the changes of the positions of the imaginary planes IP2 to IP4. -
FIG. 15 illustrates the state in which the positions z1 to z4 of the one ends of the first tofourth links 141 to 144 are determined using astate 131 a of thefirst driver 131, a state 132 a of thesecond driver 132, astate 133 a of thethird driver 133, astate 134 a of thefourth driver 134, and a transformation matrix L. The transformation matrix L represents the parameters of the first tofourth links 141 to 144 for calculating the positions z1 to z4 from thestates 131 a to 134 a. - For example, the
controller 190 calculates the positions z1 to z4 by using the product of the transformation matrix L and thestates 131 a to 134 a. Thecontroller 190 calculates the positions p1 to p4 of the imaginary planes by using the product of the orthogonal matrix R illustrated inFIG. 13 and the positions z1 to z4. Target values are input respectively for the positions p1 to p4. As illustrated inFIG. 15 , a target value V is input for the position p1. The target value V represents the desirable position in the second direction D2 of the imaginary plane IP1 at each time t. For example, the target value V is set so that the position in the second direction of the imaginary plane IP1 changes along the path illustrated inFIG. 14A . 0 is input as the target values of the positions p2 to p4. - The
controller 190 calculates deviations c1 to c4 respectively between the positions p1 to p4 and the target values. The deviations c1 to c4 respectively represent the differences between the target values and the positions of the imaginary planes IP1 to IP4. Thecontroller 190 calculates the product of a transposed matrix R−1 and the deviations c1 to c4. Thereby, the deviations c1 to c4 are converted into deviations s1 to s4 respectively representing the differences between the positions of the one ends of the first tofourth links 141 to 144 and the target positions of the one ends of the links. - The
controller 190 further calculates operation amounts u1 to u4 by using the deviations s1 to s4 and an inverse matrix L−1 of the transformation matrix L. Thecontroller 190 inputs the operation amounts u1 to u4 respectively to the first tofourth drivers 131 to 134 so that the positions of the one ends of the first tofourth links 141 to 144 approach the target positions. - By the control described above, the first to
fourth drivers 131 to 134 are operated so that the positions of the imaginary planes IP2 to IP4 do not change and so that the position of the imaginary plane IP1 is along the desired path. In other words, when the movingbody 200 is moved by the holdingapparatus 100, the shaking of theholding mechanism 110 and the movingbody 200 can be suppressed; and the movingbody 200 can be held more stably. - As described above, to downsize the holding
apparatus 100, it is desirable to downsize the first tofourth drivers 131 to 134. If the first tofourth drivers 131 to 134 are downsized, the outputs of these drivers become small; and the holding of the movingbody 200 may become unstable. To hold the movingbody 200 more stably, it may be considered to provide, in the holdingapparatus 100 or the movingbody 200, a detector that detects the orientation of theholding mechanism 110 or the movingbody 200. However, in such a case, the holdingapparatus 100 or the movingbody 200 is enlarged by providing the detector. It is desirable for both the holdingapparatus 100 and the movingbody 200 to be compact when the holdingapparatus 100 and the movingbody 200 are provided in the gap G. - Therefore, in the holding
apparatus 100 according to the embodiment, thecontroller 190 generates the imaginary planes representing the orientation of theholding mechanism 110 by using the state of thefirst driver 131, the state of thesecond driver 132, the state of thethird driver 133, and the state of thefourth driver 134. By generating the imaginary planes, the orientation of the movingbody 200 can be estimated without using a detector detecting the orientation of the movingbody 200, etc. Thecontroller 190 controls the first tofourth drivers 131 to 134 based on the positions in the second direction D2 of the imaginary planes. Thereby, the change of the orientation when moving the movingbody 200 can be suppressed; and the movingbody 200 can be held more stably. - As illustrated in
FIG. 10A toFIG. 10C , the orientation of the movingbody 200 changes diversely particularly when moving over the surface of the columnar body C. When the orientation of the movingbody 200 changes, the loads that are applied to the first tofourth drivers 131 to 134 when holding the movingbody 200 also change. According to the control method described above, the change of the orientation when moving the movingbody 200 can be suppressed even when the loads on the drivers change. - Specifically, the
controller 190 generates at least a first imaginary plane and a second imaginary plane. As in the imaginary plane IP1 illustrated inFIG. 12A , the first imaginary plane represents the states of the first tofourth drivers 131 to 134 being substantially the same. The second imaginary plane represents the state of at least one of the first tofourth drivers 131 to 134 being different from the state of another one of the first tofourth drivers 131 to 134. The second imaginary plane is, for example, one of the imaginary planes IP2 to IP4 illustrated inFIG. 12B toFIG. 12D . Thecontroller 190 controls thefirst driver 131, thesecond driver 132, thethird driver 133, and thefourth driver 134 so that the change of the position in the second direction of the second imaginary plane is suppressed and so that the position in the second direction D2 of the first imaginary plane is along the prescribed path. - By suppressing the change of the position in the second direction D2 of the second imaginary plane and moving the position in the second direction D2 of the first imaginary plane along the prescribed path, the change of the orientation of the
holding mechanism 110 and the movingbody 200 while moving the movingbody 200 can be suppressed. - Or, instead of suppressing the change of the position in the second direction D2 of the second imaginary plane, the
controller 190 may compare the change of the position in the second direction D2 of the second imaginary plane to a prescribed condition. For example, a threshold of the position in the second direction D2 is preset. Thecontroller 190 compares, to the threshold, the change of the position in the second direction D2 of the second imaginary plane compared to the holding start time of the movingbody 200. When the change of the position exceeds the threshold, thecontroller 190 controls the first tofourth drivers 131 to 134 to reduce the speed of theholding mechanism 110. Theholding mechanism 110 may be stopped by the reduction of the speed. For example, thecontroller 190 may stop theholding mechanism 110 by stopping the operations of the first tofourth drivers 131 to 134. The threshold is set in a range such that the movingbody 200 does not fall from theholding mechanism 110. The change of the position exceeding the threshold shows that the orientation of theholding mechanism 110 and the movingbody 200 is changing greatly compared to the holding start time. When the change of the position exceeds the threshold, the likelihood of the movingbody 200 falling from theholding mechanism 110 can be reduced by reducing the speed of theholding mechanism 110. - A threshold of the speed in the second direction D2 of the second imaginary plane may be preset. The
controller 190 compares the change of the position in the second direction D2 of the second imaginary plane per unit time to the threshold. In other words, the change of the position in the second direction D2 of the second imaginary plane per unit time is the speed in the second direction D2 of the second imaginary plane. When the speed of the second imaginary plane exceeds the threshold, thecontroller 190 controls the first tofourth drivers 131 to 134 to reduce the speed of theholding mechanism 110. The speed exceeding the threshold shows that the orientation of theholding mechanism 110 and the movingbody 200 is changing abruptly. When the speed exceeds the threshold, the likelihood of the movingbody 200 falling from theholding mechanism 110 can be reduced by reducing the speed of theholding mechanism 110. - The
controller 190 may store a grounding point where theholding mechanism 110 contacts the surface of the columnar body C based on the change of the position in the second direction D2 of the first imaginary plane. For example, thecontroller 190 determines the grounding point where theholding mechanism 110 contacts the surface of the columnar body C to be the point of theholding mechanism 110 when the position in the second direction D2 of the first imaginary plane no longer changes even when operating the first tofourth drivers 131 to 134. Thecontroller 190 stores the position in the second direction D2 of the grounding point. - For example, the
controller 190 controls the first tofourth drivers 131 to 134 to reduce the speed of theholding mechanism 110 after operating the first tofourth drivers 131 to 134 and before the position in the second direction D2 of the first imaginary plane reaches the stored grounding point. Thereby, the impact can be reduced when theholding mechanism 110 contacts the surface of the columnar body C. Thereby, damage of the drivers, theholding mechanism 110, the movingbody 200, etc., can be suppressed. - The method for controlling the first to
fourth drivers 131 to 134 described above is applicable also in the case where the holdingapparatus 100 is provided somewhere other than between the columnar body C and the tubular body T. The holdingapparatus 100 holds an object provided on any surface (a first surface) by using theholding mechanism 110. The holdingapparatus 100 changes the position of the object in a direction perpendicular to the first surface by operating the first tofourth drivers 131 to 134 in a state in which the object is held by theholding mechanism 110. At this time, thecontroller 190 controls the first tofourth drivers 131 to 134 based on the position of an imaginary plane in the perpendicular direction. By performing the control method, a detector that detects the orientation of theholding mechanism 110 or the object is unnecessary; and the holdingapparatus 100 can be downsized. Also, even without the detector, the change of the orientation when moving the object can be suppressed; and the object can be held more stably. - A case is described in the example described above where the imaginary plane is generated using four links connected respectively to four drivers. The control method described above is applicable also to holding apparatuses of other configurations including at least three drivers. If the holding apparatus includes three drivers and three links, an imaginary plane that passes through one end for each of the three links is generated. Accordingly, a control method similar to that recited above can be performed.
-
FIG. 16A toFIG. 16C are schematic views illustrating operations of the first to third drivers of the holding apparatus according to the modification. - For example, as illustrated in
FIG. 16A toFIG. 16C , the holding apparatus according to the modification includes the first tothird drivers 131 to 133 and the first tothird links 141 to 143. In the holding apparatus, the three imaginary planes IP1 to IP3 are generated using the states of the first tothird drivers 131 to 133. Similarly toFIG. 12A , the tilt of the imaginary plane IP1 illustrated inFIG. 16A is substantially the same as the tilt when the holding of the movingbody 200 is started.FIG. 16B andFIG. 16C illustrate the imaginary planes IP2 and IP3 which are tilted compared to when the holding of the movingbody 200 is started. The imaginary plane IP1 is an example of the first imaginary plane. The imaginary plane IP2 or IP3 is an example of the second imaginary plane. - Even in the case illustrated in
FIG. 16A toFIG. 16C , similarly to the control method described above, thecontroller 190 controls the first tothird drivers 131 to 133 so that the changes of the positions of the imaginary planes IP2 and IP3 are suppressed and so that the position of the imaginary plane IP1 is along a prescribed path. Thereby, the shaking of theholding mechanism 110 and the movingbody 200 when moving the movingbody 200 can be suppressed; and the movingbody 200 can be held more stably. This is similar also for cases where the holding apparatus includes five or more drivers. - The control method described above is applicable also to holding
mechanisms 110 other than those illustrated inFIG. 1 toFIG. 6 . For example, theholding mechanism 110 may include a plate-like stage. Theholding mechanism 110 holds the movingbody 200 by attracting and holding the movingbody 200 to the stage. The holdingapparatus 100 moves the movingbody 200 on the stage along the second direction D2 by operating drivers connected to the stage. The control method described above may be performed to maintain the orientation that the stage and the movingbody 200 have at the holding start time. - While certain embodiments have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of the inventions. Indeed, the novel embodiments described herein may be embodied in a variety of other forms; furthermore, various omissions, substitutions and changes in the form of the embodiments described herein may be made without departing from the spirit of the inventions. The accompanying claims and their equivalents are intended to cover such forms or modifications as would fall within the scope and spirit of the invention. The above embodiments can be practiced in combination with each other.
Claims (19)
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US11359942B2 (en) * | 2020-04-20 | 2022-06-14 | Kabushiki Kaisha Toshiba | Holding apparatus, inspection system, and movement method |
CN117630034A (en) * | 2023-11-13 | 2024-03-01 | 湖南金航船舶制造有限公司 | Device and method for detecting weld joint of movable container ship |
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US11359942B2 (en) * | 2020-04-20 | 2022-06-14 | Kabushiki Kaisha Toshiba | Holding apparatus, inspection system, and movement method |
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CN117630034A (en) * | 2023-11-13 | 2024-03-01 | 湖南金航船舶制造有限公司 | Device and method for detecting weld joint of movable container ship |
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JP2020116657A (en) | 2020-08-06 |
US11842475B2 (en) | 2023-12-12 |
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FR3091847B1 (en) | 2022-11-11 |
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US11200660B2 (en) | 2021-12-14 |
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